Scene Flow Estimation on Waymo Open Dataset (val)
0.0138EPE (3-way) Mean (m)ΔFlow (UniFlow, Ours)
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ΔFlow (UniFlow, Ours)Supervision Level=Supervised2025.11 | 0.0138 | — | — | — | — | — | — | — | — | — | — | 0.188 | 0.065 | 0.403 | 0.096 | 0.0307 | 0.0061 | 0.0046 | |
| ΔFlowSupervision Level=Supervised2025.11 | 0.014 | — | — | — | — | — | — | — | — | — | — | 0.198 | 0.073 | 0.407 | 0.114 | 0.0327 | 0.0058 | 0.0035 | |
| Flow4D-XL (UniFlow, Ours)Supervision Level=Supervised2025.11 | 0.016 | — | — | — | — | — | — | — | — | — | — | 0.191 | 0.064 | 0.4 | 0.11 | 0.0383 | 0.0068 | 0.003 | |
| Flow4DSupervision Level=Supervised2025.11 | 0.0182 | — | — | — | — | — | — | — | — | — | — | 0.215 | 0.074 | 0.423 | 0.146 | 0.0458 | 0.0061 | 0.0028 | |
| SSF (UniFlow, Ours)Supervision Level=Supervised2025.11 | 0.0185 | — | — | — | — | — | — | — | — | — | — | 0.234 | 0.075 | 0.434 | 0.195 | 0.0474 | 0.0058 | 0.0022 | |
| SSFSupervision Level=Supervised2025.11 | 0.0219 | — | — | — | — | — | — | — | — | — | — | 0.264 | 0.097 | 0.469 | 0.225 | 0.0562 | 0.0074 | 0.0023 | |
| TeFlow#F=5, Runtime per seq=14s, Method category=Feed-forward2026.02 | 0.0348 | — | — | — | — | — | — | — | — | — | — | 0.275 | 0.157 | 0.469 | 0.198 | 0.0861 | 0.0097 | 0.0086 | |
| SeFlow++#F=3, Runtime per seq=16s, Method category=Feed-forward2026.02 | 0.0363 | — | — | — | — | — | — | — | — | — | — | 0.323 | 0.201 | 0.521 | 0.247 | 0.093 | 0.0087 | 0.0071 | |
| SeFlow++Supervision Level=Unsupervised2025.11 | 0.0363 | — | — | — | — | — | — | — | — | — | — | 0.232 | 0.201 | 0.521 | 0.247 | 0.093 | 0.0087 | 0.0071 | |
| VoteFlow#F=2, Runtime per seq=13.5s, Method category=Feed-forward2026.02 | 0.0389 | — | — | — | — | — | — | — | — | — | — | 0.347 | 0.197 | 0.548 | 0.298 | 0.0965 | 0.0112 | 0.0088 | |
| SeFlow#F=2, Runtime per seq=12s, Method category=Feed-forward2026.02 | 0.0429 | — | — | — | — | — | — | — | — | — | — | 0.351 | 0.212 | 0.551 | 0.289 | 0.1049 | 0.0139 | 0.01 | |
| DeFlowSupervision Level=Supervised2025.11 | 0.0446 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.098 | 0.0259 | 0.0098 | |
| ICP-Flow#F=2, Runtime per seq=11m, Method category=Optimization-based2026.02 | 0.085 | — | — | — | — | — | — | — | — | — | — | 0.328 | 0.305 | 0.485 | 0.195 | 0.2081 | 0.0214 | 0.0257 | |
| SeFlowSupervision Level=Unsupervised2025.11 | 0.085 | — | — | — | — | — | — | — | — | — | — | 0.328 | 0.305 | 0.485 | 0.185 | 0.2081 | 0.0214 | 0.0257 | |
| ZeroFlow#F=2, Runtime per seq=11.5s, Method category=Feed-forward2026.02 | 0.0864 | — | — | — | — | — | — | — | — | — | — | 0.77 | 0.444 | 0.982 | 0.884 | 0.224 | 0.0157 | 0.0196 | |
| ZeroFlowSupervision Level=Unsupervised2025.11 | 0.0864 | — | — | — | — | — | — | — | — | — | — | 0.77 | 0.444 | 0.982 | 0.884 | 0.224 | 0.0157 | 0.0196 | |
| FastNSF#F=2, Runtime per seq=6.7m, Method category=Optimization-based2026.02 | 0.0924 | — | — | — | — | — | — | — | — | — | — | 0.458 | 0.236 | 0.719 | 0.418 | 0.1819 | 0.0256 | 0.0698 | |
| NSFP#F=2, Runtime per seq=96m, Method category=Optimization-based2026.02 | 0.1005 | — | — | — | — | — | — | — | — | — | — | 0.574 | 0.315 | 0.823 | 0.584 | 0.1712 | 0.1081 | 0.0221 | |
| NSFPSupervision Level=Unsupervised2025.11 | 0.1005 | — | — | — | — | — | — | — | — | — | — | 0.574 | 0.315 | 0.823 | 0.584 | 0.1712 | 0.1081 | 0.0221 | |
| Ego Motion Flow#F=-, Runtime per seq=-, Method category=Baseline2026.02 | 0.171 | — | — | — | — | — | — | — | — | — | — | 1 | 1 | 1 | 1 | 0.5085 | 0.0046 | 0 | |
| DeFlowSupervision=supervised, Run Time per frame [ms]=42 ± 4, Real-time (10 Hz) onboard=true2024.07 | — | — | — | — | — | — | — | 0.0446 | 0.098 | 0.0259 | 0.0098 | — | — | — | — | — | — | — | |
| DeFlowLabels=true, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.098 | 0.026 | 0.01 | — | — | — | — | — | — | — | |
| FastFlow3DSupervision=supervised, Run Time per frame [ms]=27 ± 6, Real-time (10 Hz) onboard=true2024.07 | — | — | — | — | — | — | — | 0.0782 | 0.1954 | 0.0246 | 0.0152 | — | — | — | — | — | — | — | |
| FastFlow3DLabels=true, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.195 | 0.025 | 0.015 | — | — | — | — | — | — | — | |
| FastNSFSupervision=self-supervised, Run Time per frame [ms]=593 ± 308, Real-time (10 Hz) onboard=false2024.07 | — | — | — | — | — | — | — | 0.1579 | 0.3012 | 0.0146 | 0.0403 | — | — | — | — | — | — | — | |
| FastNSFLabels=false, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.301 | 0.015 | 0.04 | — | — | — | — | — | — | — | |
| FESTA2023.05 | — | 0.223 | — | — | 76.5 | 24.5 | 27.2 | — | — | — | — | — | — | — | — | — | — | — | |
| FH-Net2023.05 | — | 0.175 | — | — | 60.3 | 35.8 | 67.4 | — | — | — | — | — | — | — | — | — | — | — | |
| FLOTSource Dataset=FT3D2022.03 | — | 0.3299 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FLOTSource Dataset=GTA-SF2022.03 | — | 0.1081 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FLOTSource Dataset=Waymo2022.03 | — | 0.068 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FlowNet3DSource Dataset=FT3D2022.03 | — | 0.3546 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FlowNet3DSource Dataset=GTA-SF2022.03 | — | 0.1589 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FlowNet3DSource Dataset=Waymo2022.03 | — | 0.1067 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FlowNet3D2023.05 | — | 0.225 | — | — | 77.9 | 23 | 48.6 | — | — | — | — | — | — | — | — | — | — | — | |
| GMSF2023.05 | — | 0.083 | — | — | 43.5 | 74.7 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | |
| HPLFlowNetSource Dataset=FT3D2022.03 | — | 0.2505 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HPLFlowNetSource Dataset=GTA-SF2022.03 | — | 0.1146 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HPLFlowNetSource Dataset=Waymo2022.03 | — | 0.0501 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NSFPSupervision=self-supervised, Run Time per frame [ms]=76,163 ± 32,256, Real-time (10 Hz) onboard=false2024.07 | — | — | — | — | — | — | — | 0.1005 | 0.1712 | 0.1081 | 0.0221 | — | — | — | — | — | — | — | |
| NSFPLabels=false, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.171 | 0.108 | 0.022 | — | — | — | — | — | — | — | |
| PointPWC2023.05 | — | 0.307 | — | — | 78.6 | 10.3 | 23.1 | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RAFTSource Dataset=FT3D2022.03 | — | 0.2621 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RAFTSource Dataset=GTA-SF2022.03 | — | 0.0585 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-RAFTSource Dataset=Waymo2022.03 | — | 0.0433 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SeFlowSupervision=self-supervised, Run Time per frame [ms]=42 ± 4, Real-time (10 Hz) onboard=true2024.07 | — | — | — | — | — | — | — | 0.0598 | 0.1506 | 0.0181 | 0.0106 | — | — | — | — | — | — | — | |
| SeFlowLabels=false, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.151 | 0.018 | 0.011 | — | — | — | — | — | — | — | |
| SeFlowLabels=false, Same-domain training=false2025.03 | — | — | — | — | — | — | — | — | 0.155 | 0.018 | 0.013 | — | — | — | — | — | — | — | |
| VoteFlowLabels=false, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.117 | 0.015 | 0.016 | — | — | — | — | — | — | — | |
| VoteFlowLabels=false, Same-domain training=false2025.03 | — | — | — | — | — | — | — | — | 0.142 | 0.014 | 0.012 | — | — | — | — | — | — | — | |
| ZeroFlowSupervision=self-supervised, Run Time per frame [ms]=27 ± 6, Real-time (10 Hz) onboard=true2024.07 | — | — | — | — | — | — | — | 0.0921 | 0.2162 | 0.0153 | 0.0241 | — | — | — | — | — | — | — | |
| ZeroFlowLabels=false, Same-domain training=true2025.03 | — | — | — | — | — | — | — | — | 0.216 | 0.015 | 0.024 | — | — | — | — | — | — | — |